CN113581262B - Tracking, guiding and deviation monitoring and vehicle body boundary crossing early warning method for digital track rubber-tyred vehicle - Google Patents
Tracking, guiding and deviation monitoring and vehicle body boundary crossing early warning method for digital track rubber-tyred vehicle Download PDFInfo
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Abstract
The invention discloses a tracking guiding deviation monitoring and vehicle body boundary crossing early warning method for a digital rail rubber-tyred vehicle, which mainly aims at a novel lightweight and intelligent rail traffic mode of urban medium traffic volume traffic: digital track rubber tyer vehicle based on digital track rubber tyer train tracking guide system and digital track rubber tyer train tracking direction scene, realizes monitoring and location the real-time position of the digital track rubber tyer vehicle of the in-process of marcing to and in time carry out the early warning to the driver when the automobile body crosses reasonable road rail limit, avoid appearing because of the safety problem that the automobile body causes that borders.
Description
Technical Field
The invention relates to the technical field of rail trains, in particular to a tracking guide deviation monitoring and vehicle body boundary crossing early warning method for a digital rail rubber-tyred vehicle.
Background
Because the subway has the advantages of large transportation capacity, high efficiency, safety, rapidness and the like, large and medium cities in China strive to develop urban rail transit. However, the infrastructure of urban rail transit has the limitations of high cost, long period and complex technology, and the tramcar as an efficient urban transportation mode reappears in the field of vision of people by combining the comprehensive consideration of factors such as the development degree of cities, passenger flow and the like. Under the background, the modern tramcar has the advantages of low construction cost, short period, safe operation, environmental protection and the like, and gradually becomes an important traffic mode of medium and small cities and extension and supplement of large-city subways.
In recent years, with the continuous development and the wide attention of digital rail rubber-tyred vehicles, modern digital rail rubber-tyred vehicles are emerging transportation modes in recent years as a large-traffic ground public transportation system and a medium-low-traffic urban rail transportation system, and have the characteristics of fixed rails and ground transportation operation public transportation systems, and the line length is shorter than that of subway lines. However, in the prior art, the application requirements of accurate tracking, guiding, positioning and controlling of the tramcar are difficult to meet by the complex railway line road condition and the non-intelligent semi-automatic control system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and aims at a novel light and intelligent rail transit mode for traffic volume traffic in cities: a digital rail rubber-tyred vehicle provides a method for monitoring the tracking guide deviation of the digital rail rubber-tyred vehicle and early warning the boundary crossing of the vehicle body, so as to realize the tracking guide detection and the boundary crossing alarm of the digital rail vehicle, and finally realize the automatic intelligent control of the digital rail train.
One technical scheme for achieving the purpose is as follows: a tracking guide offset monitoring method for a digital track rubber-tyred vehicle is based on a digital track rubber-tyred train tracking guide system and a digital track rubber-tyred train tracking guide scene, realizes monitoring and positioning of the real-time position of the digital track rubber-tyred vehicle in the advancing process, and timely warns a driver when a vehicle body crosses a set road track limit, and specifically comprises a tracking guide offset monitoring method and a vehicle body border crossing early warning method;
digital track rubber tyer train tracking bootstrap system includes digital track subsystem, on-vehicle subsystem, central control subsystem, trackside subsystem and human-computer interaction subsystem, wherein:
the digital track subsystem takes passive magnetic nails arranged on a road surface as a carrier, a plurality of passive magnetic nails are equidistantly paved along the center line of a lane to form a virtual track with coding attribute and form a virtual digital track after coding and digitization, the passive magnetic nails are codeable magnetic sources, the virtual track formed by the codeable magnetic sources in succession supports the rubber-tyred vehicle to automatically run on a physical layer and a line layer, wherein the magnetic sources are basic composition units of the digital track and provide magnetic field positioning information and coding information to form the virtual digital track;
the vehicle-mounted subsystem takes a digital rail rubber-tyred vehicle as a carrier, the digital rail rubber-tyred vehicle is provided with a vehicle-mounted controller, a vehicle-mounted sensor, an operation control and management system display and a vehicle-ground communication device, and the vehicle-mounted subsystem is additionally provided with the functions of auxiliary driving of a train and automatic tracking guiding on the basis of a basic level tramcar signal vehicle-mounted subsystem; the system has the advantages that the system recommends train operation strategies in real time according to an operation plan and a line state, assists in driving guidance and prompt, automatically guides a vehicle along a digital track, automatically guides a turnout path, reduces operation dispatching and driver labor intensity, and realizes safe operation of the train according to a schedule point;
the central control subsystem is distributed in the control center and comprises a server, a workstation, interface equipment and network equipment, and the central control subsystem realizes the functions of man-machine operation, driving command, train operation monitoring and operation control and management system maintenance management of train scheduling;
the trackside subsystem is distributed beside a track and at an intersection, comprises an annunciator controller and an intersection priority controller, realizes the control of a trackside annunciator and the intersection priority function, and is combined with the vehicle-mounted subsystem to realize the intersection operation driving strategy control function;
the human-computer interaction subsystem is a basic control display and control operation functional module of the digital track rubber wheel train tracking guide system and comprises a vehicle-mounted human-computer interface, and a driver sends a control command to vehicle-mounted equipment by operating a button on the vehicle-mounted human-computer interface to adjust the running state of a train; the real-time state information of the vehicle-mounted equipment is sent to a vehicle-mounted human-computer interface of the train, the vehicle-mounted human-computer interface displays the real-time state information of the train from the aspects of a digital interface, characters, figures and sounds, and a driver monitors the running state of the train in real time; the human-computer interaction subsystem helps a driver to realize full-automatic and intelligent tracking, guiding and deviation monitoring and vehicle body boundary-crossing early warning of the digital track rubber-tyred vehicle;
the tracking guide scene based on the digital track rubber-tyred train is characterized in that a continuous passive magnetic nail sequence consisting of passive magnetic nails embedded in a lane center line and equidistantly spaced forms a tracking guide track based on the tracking of the digital track rubber-tyred train, binary code elements are coded on north and south poles of the passive magnetic nails through a magnetic nail coding technology, a continuous group of passive magnetic nails transmit specific information codes through different arrangement of polarities, each passive magnetic nail provides position information of a vehicle-mounted sensor relative to the passive magnetic nail to vehicle-mounted sensors arranged on six axles at the bottom of the digital track rubber-tyred train through a magnetic field, the position information is further converted and calculated into a relative distance between the center of the digital track rubber-tyred train body and the road center line through a vehicle-mounted controller, and if the calculated actual relative distance shows that the relative distance between the axle of the digital track rubber-tyred train and the road center line is greater than a rated threshold value, the vehicle is out of true body border crossing, and a human-machine interaction subsystem gives an early warning to a driver.
The tracking guide offset monitoring and vehicle body boundary crossing early warning method of the digital rail rubber-tyred vehicle is characterized in that in the digital rail subsystem, a magnetic source is formed by passive magnetic nails which are installed and deployed on a digital planning rail line, the passive magnetic nails are energy-consumption-free embedded magnetic sources, the passive magnetic nails embedded along the line are used as positioning references, and an image-based analog-digital rail formed by encoding and digitalization is a virtual and digital substitution of a physical rail and is used for restricting the virtual rail rubber-tyred vehicle to run along the self-guide tracking of the digital rail;
the digital track subsystem is used for realizing informatization of road design and operation: the track position information of the vehicle is obtained by the vehicle-mounted sensor through induction when the vehicle-mounted sensor is above the passive magnetic nail; the method comprises the following steps that (1) as a train loaded with an operation control and management system runs along a digital track, coded magnetic nail information is read continuously through a vehicle-mounted sensor, and an electronic map is formed; besides the tracking and guiding function and the electronic map function, the digital track simultaneously supports the realization of the functions of whole-course positioning, scene foresight, virtual turnout control and train operation control.
The tracking guide deviation monitoring and vehicle body border crossing early warning method of the digital track rubber-tyred vehicle is characterized in that a vehicle-mounted track sensor capable of accurately identifying passive magnetic nails embedded on a road is mounted on the digital track rubber-tyred vehicle in a vehicle-mounted subsystem, when the digital track rubber-tyred vehicle in a normal running state passes through a passive magnetic nail road section containing codes, a polarity coding sequence of the magnetic nails on the road surface is detected by the vehicle-mounted track sensor mounted at the bottom of the digital track rubber-tyred vehicle and is decoded by a control navigation positioning processor in a vehicle-mounted controller to obtain corresponding digital track section parameters and data information, and the vehicle is automatically guided to automatically track along a set digital track in an automatic tracking mode and guide correction to keep and cruise lanes.
In the tracking guidance deviation monitoring and vehicle body boundary crossing early warning method for the digital track rubber-tyred vehicle, in the tracking guidance scene of the digital track rubber-tyred train, the passive magnetic nails can store and transmit static road information according to the polarity and arrangement of the magnetic nails, and typical road information comprises road boundaries, road design parameters and information related to operation;
the passive magnetic nail can be further expanded to be provided with a passive electronic device, information is carried in a frequency or multi-bit digital coding mode, richer road information is obtained under the excitation of the vehicle-mounted sensor, when a vehicle passes through a passive magnetic nail road section or a passive magnetic nail sequence containing codes, the sequence coding and the identity recognition of a road surface magnetic label are detected through the vehicle-mounted track sensor arranged at the bottom of the digital track rubber-tyred vehicle, and the road information is obtained through the decoding of a control navigation positioning processor in a vehicle-mounted controller;
the vehicle-mounted sensor accurately positions and calibrates the body position of the digital rail rubber-tyred vehicle through a high-precision positioning technology, specifically, the vehicle-mounted sensor array utilizes different magnetic sensing unit measurement values to perform modeling and matching, eliminates the influence of a geomagnetic field, and obtains a single-point deviation with millimeter-level precision; the vehicle-mounted controller detects and obtains a continuous magnetic nail sequence, decodes a passive magnetic nail number through which a vehicle passes, matches geographic information through a time axis, and obtains accurate positioning with precision at centimeter level so as to realize stable and reliable vehicle navigation guidance;
the vehicle-mounted sensor can also monitor the state of the passive magnetic nail track while realizing that a vehicle runs on the digital track through a vehicle-road cooperation technology, acquire and store dynamic detection data of the passive magnetic nail track and support maintenance service of the passive magnetic nail track; the rubber wheel vehicle obtains road, traffic signals and operation scheduling information while automatically keeping a running track through the vehicle-mounted sensor and the vehicle-road communication equipment, and uploads the information to the central scheduling management platform through wireless communication, so that vehicle-road cooperation is realized.
The tracking guide deviation monitoring and vehicle body border crossing early warning method for the digital track rubber-tyred vehicle comprises the following steps:
s11, the digital rail rubber-tyred vehicle runs until the vehicle body completely passes through a passive magnetic nail sequence road section formed by passive magnetic nails paved on the center line of the lane;
s12, generating corresponding left and right road limits of a vehicle body according to a passive magnetic nail sequence on a passive magnetic nail sequence section according to a transverse distance threshold value which is rated to allow the vehicle body of the digital rail rubber-tyred vehicle to pass through, and generating a virtual digital rail;
s13, as the digital track rubber-tyred vehicle runs along the virtual digital track, vehicle-mounted track sensors mounted on six axles at the bottom of the vehicle body of the digital track rubber-tyred vehicle perform induction recognition and communication on the vehicle body through passive magnetic nails, and timely acquire positioning data information contained in passive magnetic nail beacons;
s14, acquiring positioning information of six axles of the whole digital rail rubber-tyred vehicle on passive magnetic nails at relative positions, and generating six corresponding positioning point coordinates;
s15, drawing a dynamic broken line according to the coordinates of the six corresponding points, and comparing the dynamic broken line with a static straight line drawn by the virtual digital track to obtain vehicle positioning parameters;
and S16, generating digital track rubber-tyred vehicle tracking guiding monitoring data according to the vehicle positioning parameters obtained in the step S15, and displaying the digital track rubber-tyred vehicle tracking guiding monitoring data on a human-computer interaction interface of a human-computer interaction subsystem to realize a real-time digital track rubber-tyred vehicle tracking guiding monitoring task.
In the above tracking guiding deviation monitoring and vehicle body boundary crossing early warning method for the digital rail rubber-tyred vehicle, in step S14, the positioning information includes the polarity and arrangement of the passive magnetic nails and static road information that can be stored and transmitted, and the road information includes road boundaries, design parameters of roads and information related to operation; generating six corresponding positioning point coordinates according to the virtual digital track coordinate information defined by the magnetic nail beacon, and finally displaying on a human-computer interaction interface of the human-computer interaction subsystem;
in step S15, generating a dynamic broken line representing the track of the vehicle body of the digital track rubber-tyred vehicle according to the coordinates of the six positioning points generated in step S14, comparing the dynamic broken line with a static straight line drawn by a virtual digital track, and calculating vehicle positioning parameters, wherein the vehicle positioning parameters comprise the relative coordinates of the dynamic broken line under a corresponding virtual digital track coordinate system and the offset of the dynamic broken line relative to the central line of the magnetic nail sequence;
in step S16, according to the relative coordinates of the dynamic broken lines obtained in step S15 in the corresponding virtual digital track coordinate system and the offset of the dynamic broken lines with respect to the magnetic nail sequence center line, final digital track rubber-tyred vehicle tracking guidance monitoring data is generated and displayed on a human-computer interaction system interface, so as to implement a real-time digital track rubber-tyred vehicle tracking guidance monitoring task.
The tracking guide deviation monitoring and vehicle body boundary crossing early warning method for the digital track rubber-tyred vehicle comprises the following steps of:
s21, acquiring tracking guide monitoring data of the digital rail rubber-tyred vehicle;
s22, obtaining deviation values of six axles of the digital rail rubber-tyred vehicle deviating from the center line of the virtual digital rail;
s23, acquiring left and right road limits of the virtual digital track of the six axles corresponding to the positions of the passive magnetic nails;
s24, marking a near-boundary danger area of the virtual digital track according to data parameter information of the left and right road limits of the virtual digital track, marking an area 5-10 cm away from the left and right road limits of the virtual digital track as a yellow warning area, and marking an area 0-5 cm away from the left and right road limits of the virtual digital track as a red danger area;
s25, when the vehicle tracking guiding dynamic fold line invades a red dangerous area or a yellow dangerous area, marking the corresponding area as high brightness on a human-computer interaction interface of the human-computer interaction subsystem;
and S26, giving an alarm to prompt a driver that the digital rail vehicle is possibly in danger of vehicle body boundary crossing, and realizing vehicle body boundary crossing early warning.
In the above tracking guiding deviation monitoring and vehicle body boundary crossing early warning method for the digital rail rubber-tyred vehicle, in step S22, after the digital rail rubber-tyred vehicle is powered on and started, the default state of the digital rail rubber-tyred vehicle is that the deviation of each shaft is zero, when the digital rail rubber-tyred vehicle runs, the deviation of each shaft changes independently along with the movement of the vehicle, and the mutual deviations are not related; acquiring transverse deviation values of six axles of the digital track rubber-tyred vehicle relative to a virtual digital track central line in tracking guidance monitoring data, wherein the transverse deviation values are represented by D1-D6, the unit is centimeter, and "+" is defined as left deviation and "-" is defined as right deviation;
in step S23, a first magnetic nail beacon in the passive magnetic nail sequence passing through the digital rail rubber-tyred vehicle in the traveling direction is marked as a first one, and the remaining five magnetic nail beacons are sequentially marked; then, acquiring virtual digital track limits corresponding to the vehicle body positions of the passive magnetic nails of the six axles, sequentially marking the left road limits of the six axles as CL 1-CL 6, sequentially marking the road limits as CR 1-CR 6, wherein the unit of the left and right road limits is centimeter, defining "+" as left measurement and "-" as right side, and finally representing data parameter information of the left and right road limits of the virtual digital tracks;
in the step S25, when the vehicle tracking guiding dynamic broken line displayed on the human-computer interaction interface of the human-computer interaction subsystem invades into the red and yellow areas, marking the areas as high light on the human-computer interaction interface in real time, and triggering a secondary early warning mechanism when the areas invade into the yellow warning area; the intrusion into the red dangerous area triggers a primary early warning mechanism.
According to the tracking guide deviation monitoring and vehicle body boundary crossing early warning method for the digital track rubber-tyred vehicle, the problem of vehicle body boundary crossing of the primary early warning mechanism is more serious and urgent than that of the secondary early warning mechanism; the primary early warning mechanism is an early warning mechanism with a higher safety early warning level than the secondary early warning mechanism, the primary early warning mechanism reminds a driver through long sound of buzzing alarm, the secondary early warning mechanism reminds the driver through indirect alarm, and the primary early warning mechanism and the secondary early warning mechanism prompt the driver that the digital track rubber-tyred vehicle is likely to have a vehicle body boundary crossing danger, so that boundary crossing early warning of the vehicle body is realized.
By adopting the technical scheme of the tracking guide deviation monitoring and vehicle body boundary crossing early warning method of the digital rail rubber-tyred vehicle, the tracking guide detection and boundary crossing alarm of the digital rail vehicle can be realized, so that the automatic intelligent control of a digital rail train is finally realized, and the safety problem caused by vehicle body boundary crossing is avoided.
Drawings
FIG. 1 is a block diagram of a digital rail rubber-tyred train tracking guidance system;
FIG. 2 is a schematic diagram of a digital rail rubber-tyred train tracking guidance scenario;
FIG. 3 is a flow chart of a tracking guidance offset monitoring method for a digital rail rubber-tyred vehicle;
fig. 4 is a flowchart of a vehicle body boundary crossing early warning method of a digital rail rubber-tyred vehicle.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:
referring to fig. 1, fig. 2, fig. 3 and fig. 4, an embodiment of the present invention provides a tracking guiding deviation monitoring method for a digital rail rubber-tyred vehicle, which mainly faces to a novel light and intelligent rail transit mode of urban transportation traffic: the digital rail vehicle is based on the digital rail rubber wheel train tracking guide system 101 and a digital rail rubber wheel train tracking guide scene, the real-time position of the digital rail rubber wheel vehicle in the advancing process is monitored and positioned, and when a vehicle body crosses a set road rail limit, early warning is timely carried out on a driver, and the digital rail vehicle tracking guide deviation monitoring method and the vehicle body boundary crossing early warning method are specifically included.
Referring to fig. 1, a digital track rubber-tyred train tracking and guiding system 101 includes a digital track subsystem 102, a vehicle-mounted subsystem 103, a central control subsystem 104, a trackside subsystem 105, and a human-computer interaction subsystem 106. The functions of operation control, safety protection, assistance, driving, train operation monitoring and the like of the digital rail rubber-tyred vehicle are realized.
The digital track subsystem 102 is characterized in that passive magnetic nails arranged on a road surface are used as carriers, a plurality of passive magnetic nails are equidistantly laid along the center line of a lane to form a virtual track with coding attributes, the virtual track is formed after coding digitization, the passive magnetic nails are codeable magnetic sources, the virtual track formed by the codeable magnetic sources in a continuous mode supports a rubber-tyred vehicle to automatically run on a physical layer and a line layer, wherein the magnetic sources are basic composition units of the digital track and provide magnetic field positioning information and coding information to form the virtual digital track; the magnetic source is formed by installing and deploying passive magnetic nails on a digital planning track line, the passive magnetic nails are energy-consumption-free embedded magnetic sources, the passive magnetic nails embedded along the line are used as positioning references, and the magnetic source is formed by encoding and digitalizing Deficiency type The analog digital track is a virtual and digital substitution of a physical steel rail track and is used for restricting the virtual track rubber-tyred vehicle from self-guiding tracking running along the digital track; all facilities of the digital track are passive and have no mechanical structural parts, and the whole facility is simple, easy to implement and high in reliability.
The digital track subsystem is used for realizing informatization of road design and operation: the track position information of the vehicle is obtained by the vehicle-mounted sensor through induction when the vehicle-mounted sensor is above the passive magnetic nail; the method comprises the following steps that (1) as a train loaded with an operation control and management system runs along a digital track, coded magnetic nail information is read continuously through a vehicle-mounted sensor, and an electronic map is formed; besides the tracking and guiding function and the electronic map function, the digital track simultaneously supports the realization of the functions of whole-course positioning, scene foresight, virtual turnout control and train operation control.
The vehicle-mounted subsystem 103 takes a digital rail rubber-tyred vehicle as a carrier, the digital rail rubber-tyred vehicle is provided with a vehicle-mounted controller, a vehicle-mounted sensor (comprising auxiliary functional sensors for train positioning, speed measurement and the like), a running control and management system display and vehicle-ground communication equipment, and the vehicle-mounted subsystem 103 is additionally provided with the functions of auxiliary driving of a train and automatic tracking guiding on the basis of a basic-level tramcar signal vehicle-mounted subsystem (having basic safety protection functions of train speed limit protection, red light evasion protection, obstacle collision prevention prompt and the like); the system has the advantages that the system recommends train operation strategies in real time according to an operation plan and a line state, assists in driving guidance and prompt, automatically guides a vehicle along a digital track, automatically guides a turnout path, reduces operation dispatching and driver labor intensity, and realizes safe operation of the train according to a schedule point; the digital rail rubber-tyred vehicle is provided with a vehicle-mounted rail sensor which can accurately identify passive magnetic nails buried in a road, when the digital rail rubber-tyred vehicle in a normal running state passes through a passive magnetic nail road section containing codes, the polarity coding sequence of the magnetic nails on the road surface is detected through the vehicle-mounted rail sensor arranged at the bottom of the digital rail rubber-tyred vehicle, and is decoded through a control navigation positioning processor in a vehicle-mounted controller to obtain corresponding digital rail section parameters and data information, and the vehicle is automatically guided to automatically track along a set digital track in an automatic tracking form and guide correction mode to keep and cruise the lane. The running driving of the vehicle can get rid of the dependence on a vision system, thereby solving the problem of all-weather safety guarantee.
And the central control subsystem 104 is distributed in the control center and comprises a server, a workstation, interface equipment and network equipment, and the central control subsystem realizes the functions of man-machine operation, driving command, train operation monitoring and operation control and management system maintenance and management of train scheduling.
The trackside subsystem 105 is distributed beside a track and at an intersection, comprises an annunciator controller and an intersection priority controller, realizes the control of a trackside annunciator and the intersection priority function, and realizes the intersection operation driving strategy control function by combining the trackside subsystem with the vehicle-mounted subsystem.
The human-computer interaction subsystem 106 is a basic control display and control operation functional module of the digital track rubber wheel train tracking guide system, and comprises a vehicle-mounted human-computer interface, wherein a driver sends a control command to vehicle-mounted equipment by operating a button on the vehicle-mounted human-computer interface to adjust the running state of a train; the real-time state information of the vehicle-mounted equipment is sent to a vehicle-mounted human-computer interface of the train, the vehicle-mounted human-computer interface displays the real-time state information of the train from the aspects of a digital interface, characters, figures and sounds, and a driver monitors the running state of the train in real time; the human-computer interaction subsystem 106 helps a driver to realize full-automatic and intelligent tracking, guiding, deviation monitoring and vehicle body boundary-crossing early warning of the digital track rubber wheel vehicle.
Referring to fig. 2, based on a digital track rubber-tyred train tracking guidance scenario, a continuous passive magnetic nail sequence 204 is formed by passive magnetic nails 206 embedded in a lane center line and equally spaced, so as to form a tracking guidance track for digital track rubber-tyred vehicle tracking based on passive magnetic nails, binary code element encoding is performed on north and south poles of the passive magnetic nails by a magnetic nail encoding technology, a continuous set of passive magnetic nails transmit specific information codes through different arrangements of polarities, each passive magnetic nail provides position information of a vehicle-mounted sensor relative to the passive magnetic nail to vehicle-mounted sensors 205 arranged on six axles 207 at the bottom of a digital track rubber-tyred vehicle 203 through a magnetic field, the position information is further converted and calculated into a relative distance between the center of a digital track rubber-tyred vehicle body and a road center line through a vehicle-mounted controller, and if the calculated actual relative distance shows that the relative distance between the axle of the digital track rubber-tyred vehicle and the road center line is greater than a rated threshold value, it is said that the vehicle body is truly out of bounds, and a human-machine interaction subsystem gives an early warning to a driver.
The passive magnetic nails 206 can store and transmit static road information according to the polarity and arrangement of the magnetic nails, wherein typical road information comprises road boundaries, design parameters of roads (such as road curvature radius) and operation-related information (such as road bifurcation or merging in front, station positions and the like), and the road boundaries comprise a left road boundary 201 and a right road boundary 201; the passive magnetic nails 206 can also be expanded and configured with passive electronic devices to carry information in a frequency or multi-bit digital coding mode, richer road information is obtained under the excitation of the vehicle-mounted sensor 205, when a vehicle passes through a passive magnetic nail road section or a passive magnetic nail sequence containing codes, the sequence coding and identity recognition of the magnetic labels on the road surface are detected by the vehicle-mounted track sensor arranged at the bottom of the digital track rubber-tyred vehicle 203, and the sequence coding and identity recognition are decoded by a control navigation positioning processor in a vehicle-mounted controller to obtain the road information;
the vehicle-mounted sensor 205 is used for accurately positioning and calibrating the body position of the digital rail rubber-tyred vehicle by a high-precision positioning technology, specifically, modeling and matching are carried out by using different magnetic sensing unit measurement values through a vehicle-mounted rail sensor array, so that the influence of a geomagnetic field is eliminated, and a single-point deviation with millimeter-scale precision is obtained; the vehicle-mounted controller detects and obtains a continuous magnetic nail sequence 204, decodes a passive magnetic nail 206 number through which a vehicle passes, matches geographic information through a time axis, and obtains accurate positioning with precision at centimeter level so as to realize stable and reliable vehicle navigation guidance;
the vehicle-mounted sensor 205 can also monitor the state of the passive magnetic nail track while realizing that the vehicle runs on the digital track through a vehicle-road cooperation technology, collect and store dynamic detection data of the passive magnetic nail track, and support maintenance service of the passive magnetic nail track; the rubber wheel vehicle obtains road, traffic signals and operation scheduling information while automatically keeping a running track through the vehicle-mounted sensor and the vehicle-road communication equipment, and uploads the information to the central scheduling management platform through wireless communication, so that vehicle-road cooperation is realized.
Referring to fig. 3, a tracking guidance deviation monitoring method for a digital rail rubber-tyred vehicle can monitor and position the real-time position of the digital rail vehicle during the traveling process, and can warn a driver in time when the vehicle body crosses a reasonable road rail boundary (boundary), so as to avoid safety problems caused by vehicle body boundary crossing, the tracking guidance deviation monitoring method includes the following steps:
s11, the digital rail rubber-tyred vehicle runs until the vehicle body completely passes through a passive magnetic nail sequence road section formed by laying passive magnetic nails installed on the center line of the lane: after the digital rail rubber-tyred vehicle is electrified and started, a passive magnetic nail sequence road section formed by passive magnetic nails arranged on the ground is laid along a line according to a certain design rule, the passive magnetic nails are energy-consumption-free embedded magnetic sources, and are typical magnetic source forms suitable for public roads, wherein the line-embedded magnetic labels are used as positioning references, and the defect-type simulated rail is formed by coding and digitalizing, is a virtual and digital substitution of a physical steel rail and is used for restricting the virtual rail rubber-tyred vehicle to run along the digital rail self-guide tracking;
s12, generating corresponding left and right road limits of a vehicle body according to a passive magnetic nail sequence on a passive magnetic nail sequence section according to a transverse distance threshold value which is rated to allow the vehicle body of the digital rail rubber-tyred vehicle to pass through, and generating a virtual digital rail; the virtual digital track takes passive magnetic nails arranged on a road surface as a carrier, the passive magnetic nails are laid and arranged along a line according to a certain design rule to form a virtual track with coding attribute, the virtual track is formed after coding digitization, the virtual track formed by connecting a codeable magnetic source supports the automatic running of a vehicle on a physical layer and a line layer, wherein the magnetic source is a basic composition unit of the digital track, provides magnetic field positioning information and coding information to form the digital track, and generates corresponding left and right side road limits of the vehicle body according to a rated transverse distance threshold value which allows the vehicle body to pass;
s13, a vehicle-mounted sensor arranged on an axle at the bottom of the digital rail rubber-tyred vehicle carries out induction recognition and communication on the road surface magnetic nails; as the digital track rubber-tyred vehicle runs along the virtual digital track, vehicle-mounted track sensors mounted on six axles at the bottom of the vehicle body of the digital track rubber-tyred vehicle perform induction recognition and communication on the vehicle body through the passive magnetic nails, and timely acquire positioning data information contained in the passive magnetic nail beacons;
s14, acquiring positioning information of the six axles of the whole digital rail rubber-tyred vehicle on the passive magnetic nails at the relative positions to generate six corresponding positioning point coordinates; the positioning information comprises the polarity and arrangement of the passive magnetic nails and static road information which can be stored and transmitted, and typical information comprises road boundaries, design parameters of the road (such as the curvature radius of the road), and operation-related information (such as the position of a station and the like of a front road branch or merging road); generating six corresponding positioning point coordinates according to the virtual digital track coordinate information defined by the magnetic nail beacon, and finally displaying on a human-computer interaction interface of the human-computer interaction subsystem;
s15, drawing a dynamic broken line according to the coordinates of the six corresponding points, and comparing the dynamic broken line with a static straight line drawn by the virtual digital track to obtain vehicle positioning parameters; generating a dynamic broken line representing the track of the vehicle body of the digital rail rubber-tyred vehicle according to the coordinates of the six positioning points generated in the step S14, comparing the dynamic broken line with a static straight line drawn by the virtual digital rail, and calculating vehicle positioning parameters, wherein the vehicle positioning parameters comprise the relative coordinates of the dynamic broken line in a corresponding virtual digital rail coordinate system and the offset of the dynamic broken line relative to the center line of the magnetic nail sequence;
s16, generating digital track rubber-tyred vehicle tracking guidance monitoring data according to the vehicle positioning parameters obtained in the step S15, and displaying the digital track rubber-tyred vehicle tracking guidance monitoring data on a human-computer interaction interface of a human-computer interaction subsystem to realize a real-time digital track rubber-tyred vehicle tracking guidance monitoring task; and generating final digital track rubber-tyred vehicle tracking guiding monitoring data according to the relative coordinates of the dynamic broken lines in the corresponding virtual digital track coordinate system obtained in the step S15 and the offset of the dynamic broken lines relative to the magnetic nail sequence central line, and displaying the final digital track rubber-tyred vehicle tracking guiding monitoring data on a human-computer interaction system interface to realize a real-time digital track rubber-tyred vehicle tracking guiding monitoring task.
A vehicle body boundary crossing early warning method of a digital rail rubber-tyred vehicle can enable a driver to observe a road boundary (boundary) where the vehicle passes through from a vehicle-mounted man-machine interaction system, provide the driver with a reference that the vehicle can pass in a narrow space (mainly by a station), and make up for the observation difficulty of the driver caused by long-distance perspective and head and tail blind areas of a vehicle camera. The realization of the function can replace the getting-off observation of a security officer. The vehicle body border-crossing early warning method comprises the following steps:
s21, acquiring tracking guide monitoring data of the digital rail rubber-tyred vehicle; the method comprises the steps of further processing and analyzing data by acquiring tracking guide monitoring data of the digital rail rubber-tyred vehicle generated by the tracking guide deviation monitoring method based on the digital rail vehicle according to the embodiment, and finally realizing the early warning of the vehicle body when the vehicle body is out of range;
s22, obtaining deviation values of six axles of the digital rail rubber-tyred vehicle deviating from the center line of the virtual digital rail; after the digital rail rubber-tyred vehicle is electrified and started, the default state of the digital rail rubber-tyred vehicle is that the offset of each shaft is zero, and when the digital rail rubber-tyred vehicle runs, the offset of each shaft independently changes along with the movement of the vehicle, and the offsets of the shafts are not related; acquiring transverse deviation values of six axles of the digital track rubber-tyred vehicle relative to a virtual digital track central line in tracking guidance monitoring data, wherein the transverse deviation values are represented by D1-D6, the unit is centimeter, and "+" is defined as left deviation and "-" is defined as right deviation;
s23, acquiring left and right road limits of the virtual digital track of the six axles corresponding to the positions of the passive magnetic nails; firstly, marking a first magnetic nail beacon in a passive magnetic nail sequence passing through a digital rail rubber wheel vehicle in the advancing direction as a first one, and then marking the rest five magnetic nail beacons in sequence; then, acquiring virtual digital track limits corresponding to the vehicle body positions of the passive magnetic nails of the six axles, sequentially marking the left road limits of the six axles as CL 1-CL 6, sequentially marking the road limits as CR 1-CR 6, wherein the unit of the left and right road limits is centimeter, defining "+" as left measurement and "-" as right side, and finally representing data parameter information of the left and right road limits of the virtual digital tracks;
s24, marking a near-boundary danger area of the virtual digital track according to data parameter information of the left and right road limits of the virtual digital track, marking an area 5-10 cm away from the left and right road limits of the virtual digital track as a yellow warning area, and marking an area 0-5 cm away from the left and right road limits of the virtual digital track as a red danger area;
s25, when the vehicle tracking guiding dynamic fold line invades a red dangerous area or a yellow dangerous area, marking the corresponding area as high brightness on a human-computer interaction interface of the human-computer interaction subsystem; when the vehicle tracking guiding dynamic fold line displayed on the human-computer interaction interface of the human-computer interaction subsystem invades into the red and yellow areas, the areas are marked as high-brightness on the human-computer interaction interface in real time, and a secondary early warning mechanism is triggered when the areas invade into the yellow warning area; triggering a primary early warning mechanism when the vehicle invades a red dangerous area; ingress yellow warning area conditions: taking the left side of the first axle as an example: when D1+125 >; invasion into red hazardous area conditions: take the right side of the third axle as an example: when D3-125 Tsu & lt CR3 & gt & lt 5 & gt, marking that the area is invaded by red danger, triggering a primary early warning mechanism;
s26, sending an alarm to prompt a driver that the digital rail vehicle possibly has a vehicle body boundary crossing danger, and realizing vehicle body boundary crossing early warning; the above-mentioned two-stage early warning mechanism and one-stage early warning mechanism can be understood as follows: the problem of vehicle body boundary crossing of the primary early warning mechanism is more serious and urgent than that of the secondary early warning mechanism; the primary early warning mechanism is an early warning mechanism with a higher safety early warning level than the secondary early warning mechanism, the primary early warning mechanism reminds a driver through long sound of buzzing alarm, the secondary early warning mechanism reminds the driver through indirect alarm, and the primary early warning mechanism and the secondary early warning mechanism prompt the driver that the digital track rubber-tyred vehicle is likely to have a vehicle body boundary crossing danger, so that boundary crossing early warning of the vehicle body is realized.
In summary, the tracking guidance deviation monitoring and vehicle body boundary crossing early warning method for the digital track rubber-tyred vehicle realizes monitoring and positioning of the real-time position of the digital track rubber-tyred vehicle in the advancing process based on the digital track rubber-tyred train tracking guidance system and the digital track rubber-tyred train tracking guidance scene, and timely early warning the driver when the vehicle body crosses the set road track boundary.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (8)
1. A car body border crossing early warning method of a digital track rubber-tyred car is characterized in that the real-time position of the digital track rubber-tyred car in the advancing process is monitored and positioned based on a digital track rubber-tyred train tracking guide system and a digital track rubber-tyred train tracking guide scene, and early warning is timely given to a driver when the car body crosses a set road track boundary;
digital track rubber tyer train tracking bootstrap system includes digital track subsystem, on-vehicle subsystem, central control subsystem, trackside subsystem and human-computer interaction subsystem, wherein:
the digital track subsystem takes passive magnetic nails arranged on a road surface as a carrier, a plurality of passive magnetic nails are equidistantly laid along the center line of a lane to form a virtual track with coding property and form a virtual digital track after coding and digitalization, the passive magnetic nails are codeable magnetic sources, the virtual track formed by the codeable magnetic sources in succession supports the rubber-tyred vehicle to automatically run on a physical layer and a line layer, wherein the magnetic sources are basic composition units of the digital track and provide magnetic field positioning information and coding information to form the virtual digital track;
the vehicle-mounted subsystem takes a digital rail rubber-tyred vehicle as a carrier, the digital rail rubber-tyred vehicle is provided with a vehicle-mounted controller, a vehicle-mounted sensor, an operation control and management system display and a vehicle-ground communication device, and the vehicle-mounted subsystem is additionally provided with the functions of auxiliary driving of a train and automatic tracking guiding on the basis of a basic level tramcar signal vehicle-mounted subsystem; the system has the advantages that the system recommends train operation strategies in real time according to an operation plan and a line state, assists in driving guidance and prompt, automatically guides a vehicle along a digital track, automatically guides a turnout path, reduces operation dispatching and driver labor intensity, and realizes safe operation of the train according to a schedule point;
the central control subsystem is distributed in the control center and comprises a server, a workstation, interface equipment and network equipment, and realizes the man-machine operation, the driving command, the train operation monitoring and the maintenance and management functions of an operation control and management system of train scheduling;
the trackside subsystem is distributed beside a track and at an intersection, comprises an annunciator controller and an intersection priority controller, realizes the control of a trackside annunciator and the intersection priority function, and is combined with the vehicle-mounted subsystem to realize the intersection operation driving strategy control function;
the man-machine interaction subsystem is a basic control display and control operation functional module of the digital track rubber wheel train tracking guide system and comprises a vehicle-mounted man-machine interface, and a driver sends a control command to vehicle-mounted equipment by operating a button on the vehicle-mounted man-machine interface to adjust the running state of a train; the real-time state information of the vehicle-mounted equipment is sent to a vehicle-mounted human-computer interface of the train, the vehicle-mounted human-computer interface displays the real-time state information of the train from the aspects of digital interface, characters, graphs and sound, and a driver monitors the running state of the train in real time; the human-computer interaction subsystem helps a driver to realize full-automatic and intelligent tracking, guiding and deviation monitoring and vehicle body boundary-crossing early warning of the digital track rubber-tyred vehicle;
the tracking guide scene of the digital track rubber-tyred vehicle comprises a continuous passive magnetic nail sequence consisting of passive magnetic nails which are embedded in a lane central line and are spaced at equal intervals, a tracking guide track of the tracking of the digital track rubber-tyred vehicle based on the passive magnetic nails is formed, binary code elements are coded on north and south poles of the passive magnetic nails through a magnetic nail coding technology, a group of continuous passive magnetic nails transmit specific information codes through different arrangement of polarities, each passive magnetic nail provides position information of a vehicle-mounted sensor relative to the passive magnetic nail to vehicle-mounted sensors arranged on six axles at the bottom of the digital track rubber-tyred vehicle through a magnetic field, the position information is further converted and calculated into a relative distance between the center of the digital track rubber-tyred vehicle body and the central line of a road through a vehicle-mounted controller, if the calculated actual relative distance shows that the relative distance between the axle of the digital track rubber-tyred vehicle and the central line is greater than a rated threshold value, the vehicle is proved to be out of true vehicle body border crossing, and a human-computer interaction subsystem gives an early warning to a driver;
the vehicle body border-crossing early warning method comprises the following steps:
s21, acquiring tracking guide monitoring data of the digital rail rubber-tyred vehicle;
s22, obtaining deviation values of six axles of the digital rail rubber-tyred vehicle deviating from the center line of the virtual digital rail;
s23, acquiring left and right road limits of the virtual digital track of the six axles corresponding to the positions of the passive magnetic nails;
s24, marking a near-boundary dangerous area of the virtual digital track according to the data parameter information of the left and right road limits of the virtual digital track, marking an area 5-10 cm away from the left and right road limits of the virtual digital track as a yellow warning area, and marking an area 0-5 cm away from the right road limits of the virtual digital track as a red dangerous area;
s25, when the vehicle tracking guiding dynamic fold line invades a red dangerous area or a yellow dangerous area, marking the corresponding area as high brightness on a human-computer interaction interface of the human-computer interaction subsystem;
s26, sending an alarm to prompt a driver that the digital rail vehicle possibly has a vehicle body boundary crossing danger, and realizing vehicle body boundary crossing early warning;
the tracking guidance monitoring data is obtained based on a tracking guidance deviation monitoring method.
2. The vehicle body out-of-range early warning method for the digital rail rubber-tyred vehicle as claimed in claim 1, wherein in the digital rail subsystem, the magnetic source is formed by passive magnetic nails installed and deployed on digitally planned rail lines, the passive magnetic nails are energy-consumption-free embedded magnetic sources, the field-effect analog digital rail formed by encoding and digitalizing the embedded passive magnetic nails along the line as positioning references is a virtual and digital substitute for the physical rail, and is used for restricting the virtual rail rubber-tyred vehicle to run along the digital rail self-guide tracking;
the digital track subsystem is used for realizing informatization of road design and operation: the track position information of the vehicle is obtained by the vehicle-mounted sensor through induction when the vehicle-mounted sensor is above the passive magnetic nail; continuously reading coded magnetic nail information through a vehicle-mounted sensor along with the running of a train loaded with a running control and management system along a digital track to form an electronic map; besides the tracking and guiding function and the electronic map function, the digital track simultaneously supports the realization of the functions of whole-course positioning, scene foresight, virtual turnout control and train operation control.
3. The vehicle body out-of-range early warning method of the digital rail rubber-tyred vehicle as claimed in claim 1, wherein in the vehicle-mounted subsystem, the digital rail rubber-tyred vehicle is mounted with a vehicle-mounted rail sensor that can accurately identify passive magnetic nails embedded in the road, when the digital rail rubber-tyred vehicle in a normal operation state passes through a passive magnetic nail road section containing codes, the polarity coding sequence of the magnetic nails on the road surface is detected by the vehicle-mounted rail sensor mounted at the bottom of the digital rail rubber-tyred vehicle, and decoded by a control navigation positioning processor in a vehicle-mounted controller to obtain corresponding digital rail section parameters and data information, and the vehicle is automatically guided to automatically track along a set digital rail in an automatic tracking form and guiding correction manner to maintain and cruise the lane.
4. The vehicle body boundary crossing early warning method of the digital rail rubber-tyred vehicle as claimed in claim 1, wherein in the digital rail rubber-tyred train tracking guidance scenario, the passive magnetic nails can store and transmit static road information according to the polarity and arrangement of the magnetic nails, and typical road information includes road boundaries, design parameters of roads, and information related to operation;
the passive magnetic nail can be further expanded to be provided with a passive electronic device, information is carried in a frequency or multi-bit digital coding mode, richer road information is obtained under the excitation of the vehicle-mounted sensor, when a vehicle passes through a passive magnetic nail road section or a passive magnetic nail sequence containing codes, the sequence coding and the identity recognition of a road surface magnetic label are detected through the vehicle-mounted track sensor arranged at the bottom of the digital track rubber-tyred vehicle, and the road information is obtained through the decoding of a control navigation positioning processor in a vehicle-mounted controller;
the vehicle-mounted sensor accurately positions and calibrates the body position of the digital rail rubber-tyred vehicle through a high-precision positioning technology, specifically, the vehicle-mounted sensor array utilizes different magnetic sensing unit measurement values to perform modeling and matching, eliminates the influence of a geomagnetic field, and obtains a single-point deviation with millimeter-level precision; the vehicle-mounted controller detects and obtains a continuous magnetic nail sequence, decodes a passive magnetic nail number through which a vehicle passes, matches geographic information through a time axis, and obtains accurate positioning with precision at centimeter level so as to realize stable and reliable vehicle navigation guidance;
the vehicle-mounted sensor can also monitor the state of the passive magnetic nail track while realizing the running of a vehicle on the digital track through a vehicle-road cooperation technology, acquire and store dynamic detection data of the passive magnetic nail track, and support the maintenance service of the passive magnetic nail track; the rubber wheel vehicle obtains road, traffic signals and operation scheduling information while automatically keeping a running track through the vehicle-mounted sensor and the vehicle-road communication equipment, and uploads the information to the central scheduling management platform through wireless communication, so that vehicle-road cooperation is realized.
5. The vehicle body out-of-range early warning method for the digital rail rubber-tyred vehicle as claimed in claim 1, wherein the tracking guidance deviation monitoring method comprises the following steps:
s11, the digital rail rubber-tyred vehicle runs until the vehicle body completely passes through a passive magnetic nail sequence road section formed by passive magnetic nails paved on the center line of a lane;
s12, generating corresponding left and right road limits of a vehicle body according to a passive magnetic nail sequence on a passive magnetic nail sequence section according to a transverse distance threshold value which is rated to allow the vehicle body of the digital rail rubber-tyred vehicle to pass through, and generating a virtual digital rail;
s13, as the digital rail rubber-tyred vehicle runs along the virtual digital rail, vehicle-mounted rail sensors mounted on six axles at the bottom of the vehicle body of the digital rail rubber-tyred vehicle perform induction recognition and communication on the vehicle body through passive magnetic nails, and timely acquire positioning data information contained in the passive magnetic nail beacons;
s14, acquiring positioning information of six axles of the whole digital rail rubber-tyred vehicle on passive magnetic nails at relative positions, and generating six corresponding positioning point coordinates;
s15, according to the coordinates of the six corresponding points, drawing a dynamic broken line, and comparing the dynamic broken line with a static straight line drawn by the virtual digital track to obtain a vehicle positioning parameter;
and S16, generating digital track rubber-tyred vehicle tracking guiding monitoring data according to the vehicle positioning parameters obtained in the step S15, and displaying the digital track rubber-tyred vehicle tracking guiding monitoring data on a human-computer interaction interface of a human-computer interaction subsystem to realize a real-time digital track rubber-tyred vehicle tracking guiding monitoring task.
6. The vehicle body boundary crossing warning method of the digital rail rubber-tyred vehicle as claimed in claim 5, wherein in step S14, the positioning information includes polarity and arrangement of passive magnetic nails and static road information that can be stored and transmitted, the road information including road boundaries, design parameters of roads and operation-related information; generating six corresponding positioning point coordinates according to the virtual digital track coordinate information defined by the magnetic nail beacon, and finally displaying on a human-computer interaction interface of the human-computer interaction subsystem;
in step S15, generating a dynamic broken line representing the track of the vehicle body of the digital track rubber-tyred vehicle according to the coordinates of the six positioning points generated in step S14, comparing the dynamic broken line with a static straight line drawn by a virtual digital track, and calculating vehicle positioning parameters, wherein the vehicle positioning parameters comprise the relative coordinates of the dynamic broken line under a corresponding virtual digital track coordinate system and the offset of the dynamic broken line relative to the central line of the magnetic nail sequence;
in step S16, according to the relative coordinates of the dynamic broken lines in the corresponding virtual digital track coordinate system obtained in step S15 and the offset of the dynamic broken lines with respect to the magnetic nail sequence center line, digital track rubber-tyred vehicle tracking guidance monitoring data is generated and displayed on a human-computer interaction system interface, so as to realize a real-time digital track rubber-tyred vehicle tracking guidance monitoring task.
7. The vehicle body boundary crossing early warning method of the digital rail rubber-tyred vehicle as claimed in claim 1, wherein in step S22, after the digital rail rubber-tyred vehicle is powered on and started, the default state of the digital rail rubber-tyred vehicle is that the offset of each axle is zero, and when the digital rail rubber-tyred vehicle is in operation, the offsets of each axle change independently as the vehicle moves, and the offsets do not have a correlation relationship; acquiring transverse deviation values of six axles of the digital track rubber-tyred vehicle relative to a virtual digital track central line in the tracking guidance monitoring data, which are expressed by D1-D6 and have the unit of centimeter, and defining that plus is left deviation and minus is right deviation;
in step S23, a first magnetic nail beacon in the passive magnetic nail sequence passing through the digital rail rubber-tyred vehicle in the traveling direction is marked as a first one, and the remaining five magnetic nail beacons are sequentially marked; then, acquiring virtual digital track limits corresponding to the vehicle body positions of the passive magnetic nails of the six axles, sequentially marking the left road limits of the six axles as CL 1-CL 6, sequentially marking the road limits as CR 1-CR 6, wherein the unit of the left and right road limits is centimeter, defining "+" as left measurement and "-" as right side, and finally representing data parameter information of the left and right road limits of the virtual digital tracks;
in the step S25, when the vehicle tracking guiding dynamic broken line displayed on the human-computer interaction interface of the human-computer interaction subsystem invades into the red and yellow areas, marking the areas as high light on the human-computer interaction interface in real time, and triggering a secondary early warning mechanism when the areas invade into the yellow warning area; intrusion into the red hazardous area triggers a primary early warning mechanism.
8. The vehicle body boundary crossing early warning method of the digital rail rubber-tyred vehicle as claimed in claim 7, wherein the problem of vehicle body boundary crossing of the primary early warning mechanism is more serious and urgent than the secondary early warning mechanism; the primary early warning mechanism is an early warning mechanism with a higher safety early warning level than the secondary early warning mechanism, the primary early warning mechanism reminds a driver through long sound of buzzing alarm, the secondary early warning mechanism reminds the driver through indirect alarm, and the primary early warning mechanism and the secondary early warning mechanism prompt the driver that the digital track rubber-tyred vehicle is likely to have a vehicle body boundary crossing danger, so that boundary crossing early warning of the vehicle body is realized.
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